Siemens SINAMICS S120 Commissioning Manual page 102

Commissioning
3.5 Configure the COB IDs and process data objects for the receive and transmit message frames.
3. Copy the hexadecimal value from STARTER to a calculator and enter Or 8000 0000 hex.
4. You can now adjust the mapping parameters.
Mapping parameters
1. Choose the process data object to be mapped
2. Add a suitable offset for the SINAMICS drive object (e.g. plus 800 hex as of drive object
3. Convert the OD index (bits 31...16), subindex (bits 15...8) and object size (bits 7...0) into
4. Enter this value in STARTER in the corresponding mapping parameter.
Setting the COB ID to "valid"
1. In the Project Navigator, select e.g. Drives > Drive_2 > righthand mouse key > Expert >
2. Search for COB ID parameter p8700 [0] for communication parameter RPDO1.
3. Copy the hexadecimal value from STARTER to a calculator and enter And 7FFF FFFF
4. Copy the value to STARTER.
Note
The RPDOs and TPDOs described below serve to illustrate the free PDO mapping
process. You can decide for yourself how you want to map your own process data
objects for transmission message frames.
See also
Objects in drive profile DSP402 (Page 146)
102
Copy the result to the STARTER parameter. As a result, bit 31 has now been set to
"invalid".
(e.g. RPDO1, control word = 6040 hex) from the "Objects in drive profile DSP402" table
(see "Communication objects") .
2).
Refer to the column "Values from table" OD index (hex) (e.g. 6840 hex) in the
parameterization table in the following section.
a hexadecimal value (32 bits).
See the column "Resulting hexadecimal value" (e.g. 6840 0010 hex) in the
parameterization table in the following section.
See the column "Mapping parameter in STARTER" (e.g. p8710 [0]) in the
parameterization table in the following section.
Expert list the expert list for the Single Motor Module 2.
hex. Copy the result to the STARTER parameter. As a result, bit 31 has now been set to
"valid".
Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3
CANopen interface